4 Commits

Author	SHA1	Message	Date
tian	070167f572	fix: 编队偏移持久化到航点 + yLanes=Quantity + 云Z展开 ... - DroneEntity: 偏移写入克隆航点List而非位置字段 - Planner: 车道数=无人机数, laneSpacingZ=LateralSpacing - 200m间距: 33发, 2/3击毁, 第三架hp=0.10边缘效应	2026-06-13 15:03:44 +08:00
tian	a9339c36e3	feat: 编队2D模型 — LateralSpacing/LongitudinalSpacing + DroneEntity 纵向偏移 ... - RoutePlan: FormationSpacing→LateralSpacing, 新增LateralCount/LongitudinalCount/LongitudinalSpacing - DroneEntity: 2D编队(latIdx/longIdx), 横向Y展开+纵向X落后 - DefaultFormations: 6种编队模板 - DroneEntityTests: 11个(含2D编队/2×2方队/蜂群) - Planner: yLanes=ceil(formationWidth/cloudDiam), totalNeeded=single×lanes	2026-06-13 13:20:18 +08:00
tian	be671c132e	Phase 7: 删死代码DetectionEntity + TestPathProvider测试 + Swarm测试, 覆盖率93.5%, 123测试	2026-06-11 16:38:14 +08:00
tian	2ef16d083c	Phase 4 重构: 仿真引擎改为纯执行器 + Kinematics工具类 + 4个端到端场景(2个通过)	2026-06-11 15:09:53 +08:00